How Common is Malpractice?

When I was very young, my grandmother had medical problems. She relied on doctors for help, but something went terribly wrong, and she suffered a lot. I was young and don’t know much about the details, but I do know that my grandmother ended up suing at least one doctor for malpractice, and that she won.

This all made a pretty big impression on me, and I have a lot of trouble now trusting doctors. I’m worried that I’m not taking care of myself properly or visiting the doctor enough, but I have a hard time shaking my fear. Experts, how common is medical malpractice? Is my fear founded?